[NodeCategory("Controller", "OusterOS0StreamingController", NodeTick.Synchronous, LifeCycle.Update, 0F, NodeMode.Standard, false)]
public class OusterOS0StreamingController : OusterOS0Controller

Fields

busPort

Declaration

[Tooltip("Bus port to communicate with the network nodes.")]
[Field("Communication Bus", PortDirection.Right, FieldExtra.Read | FieldExtra.Write)]
public PortType<byte[]> busPort

Field Value

Type	Description
PortType<Byte[]>

dataIn

Declaration

[Tooltip("Data from photosensor")]
[Field("DataIn", PortDirection.Right, FieldExtra.Read)]
public PortType<PhotosensorOutputBuffer> dataIn

Field Value

Type	Description
PortType<PhotosensorOutputBuffer>

httpEnabled

Declaration

[Tooltip("Enable http server for this port.")]
[Field("HTTP Enabled", PortDirection.Left, FieldExtra.Read | FieldExtra.ChangeEvent)]
public PortType<bool> httpEnabled

Field Value

Type	Description
PortType<Boolean>

kBusAddress

Device bus address

Declaration

public static byte kBusAddress

Field Value

Type	Description
Byte

shader

Declaration

[Binding("Packet Encoder Shader")]
public Binding<ComputeShader> shader

Field Value

Type	Description
Binding<ComputeShader>

transcodeIn

Declaration

[Tooltip("Signal from photosensor")]
[Field("TranscodeIn", PortDirection.Right, FieldExtra.Read | FieldExtra.ChangeEvent)]
public PortType<CustomPassContext> transcodeIn

Field Value

Type	Description
PortType<CustomPassContext>

Methods

Disable()

Disable change event on ports

Declaration

public override void Disable()

Overrides

OusterOS0Controller.Disable()

Enable(Scheduler.ClockState)

Initialize the controller and enable change event on beams port.

Declaration

public override void Enable(Scheduler.ClockState clockState)

Parameters

Type	Name	Description
Scheduler.ClockState	clockState	The parameters of the waveform associated to this node

Overrides

OusterOS0Controller.Enable(Scheduler.ClockState)

GetAlertsJson()

Get the device alerts in json format.

Declaration

public string GetAlertsJson()

Returns

Type	Description
String	JSON device alerts

GetBeamIntrinsics()

Get the beam data intrinsic json.

Declaration

public string GetBeamIntrinsics()

Returns

Type	Description
String

GetConfigAsJson()

Get the current sensor config according to the ouster API spec.

Declaration

public string GetConfigAsJson()

Returns

Type	Description
String	Json representation of the device metadata.

GetConfigFromKey(String)

Get a specific config from a key. Avoid using unless needed.

Declaration

public string GetConfigFromKey(string key)

Parameters

Type	Name	Description
String	key	Key to query.

Returns

Type	Description
String	Config value

GetImuIntrinsics()

Get the imu data intrinsic json.

Declaration

public string GetImuIntrinsics()

Returns

Type	Description
String

GetLidarDataFormatJson()

Get the data format in json format.

Declaration

public string GetLidarDataFormatJson()

Returns

Type	Description
String	JSON data format

GetLidarIntrinsics()

Get the lidiar data instric json.

Declaration

public string GetLidarIntrinsics()

Returns

Type	Description
String

GetScanRate()

Declaration

protected override double GetScanRate()

Returns

Type	Description
Double

Overrides

OusterOS0Controller.GetScanRate()

GetSensorInfoJson()

Get sensor info json.

Declaration

public string GetSensorInfoJson()

Returns

Type	Description
String	Sensor info json.

OnBeamsChange()

Declaration

protected void OnBeamsChange()

SetStreamingIP(String)

Set udp ip.

Declaration

public void SetStreamingIP(string ip)

Parameters

Type	Name	Description
String	ip	Destination ip, See IPAddress.Parse for valid formats.

SetStreamingPort(Int32)

Set the udp data streaming port.

Declaration

public void SetStreamingPort(int port)

Parameters

Type	Name	Description
Int32	port	Port to send streaming data to.

Update()

Declaration

public override void Update()

Overrides

NodeRuntime.Update()